Infinity can be finite for sure. Consider the numbers between 1 and 2 for instance. You can divide up the difference infinitely many times. However, walking a 1 meter is not impossible. Some things may or may not be infinite (I'm looking at you universe) but that is reaching the limits of our understanding.

If the universe is expanding (especially if it's at the speed of light) there would exist an infinite universe because even light would never reach the "edge". However if it is not expanding or it begins to slow down then the universe would be finite at any given time. But what would happen to a photon of light if it hit the edge of the universe? That's a whole other topic entirely